pic: FRC973 Presents Emperor Swerve

[Gdeaver]

The encoder issue seems to have split in 2 directions. I was talking about using quadrature encoders to provide absolute position for the swerve steering. If I understand it right, the crio is configured with 8 counters. So if 4 4x encoders are used for swerve wheel absolute position then the counters are used up. I suggest that 4 analog voltage absolute encoders be used for wheel position and then the counters can be used for wheel velocity or distance and any other bot mechanism needs. On our bot we used 4 analog absolutes for steering and 1 for our arm. We just used a tachometer on the wheels so we have plenty of counters for future needs. My point was quadrature with index is not the best strategy for measuring wheel position for swerve.